MockConfiguration.h

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#pragma once
 
#include <QtPositioning/QGeoCoordinate>
 
#include "LinkConfiguration.h"
#include "MAVLinkEnums.h"
 
class MockConfiguration : public LinkConfiguration
{
    Q_OBJECT
    Q_PROPERTY(int  firmware                             READ firmware                            WRITE setFirmware                            NOTIFY firmwareChanged)
    Q_PROPERTY(int  vehicle                              READ vehicle                             WRITE setVehicle                             NOTIFY vehicleChanged)
    Q_PROPERTY(bool sendStatus                           READ sendStatusText                      WRITE setSendStatusText                      NOTIFY sendStatusChanged)
    Q_PROPERTY(bool apmStartFreshParams                  READ apmStartFreshParams                 WRITE setApmStartFreshParams                 NOTIFY apmStartFreshParamsChanged)
    Q_PROPERTY(bool enableCamera                         READ enableCamera                        WRITE setEnableCamera                        NOTIFY enableCameraChanged)
    Q_PROPERTY(bool enableGimbal                        READ enableGimbal                        WRITE setEnableGimbal                        NOTIFY enableGimbalChanged)
    Q_PROPERTY(bool enableProximity                      READ enableProximity                     WRITE setEnableProximity                     NOTIFY enableProximityChanged)
    Q_PROPERTY(bool enableADSB READ enableADSB WRITE setEnableADSB NOTIFY enableADSBChanged)
    Q_PROPERTY(bool gimbalHasRollAxis                   READ gimbalHasRollAxis                   WRITE setGimbalHasRollAxis                   NOTIFY gimbalHasRollAxisChanged)
    Q_PROPERTY(bool gimbalHasPitchAxis                  READ gimbalHasPitchAxis                  WRITE setGimbalHasPitchAxis                  NOTIFY gimbalHasPitchAxisChanged)
    Q_PROPERTY(bool gimbalHasYawAxis                    READ gimbalHasYawAxis                    WRITE setGimbalHasYawAxis                    NOTIFY gimbalHasYawAxisChanged)
    Q_PROPERTY(bool gimbalHasYawFollow                  READ gimbalHasYawFollow                  WRITE setGimbalHasYawFollow                  NOTIFY gimbalHasYawFollowChanged)
    Q_PROPERTY(bool gimbalHasYawLock                    READ gimbalHasYawLock                    WRITE setGimbalHasYawLock                    NOTIFY gimbalHasYawLockChanged)
    Q_PROPERTY(bool gimbalHasRetract                    READ gimbalHasRetract                    WRITE setGimbalHasRetract                    NOTIFY gimbalHasRetractChanged)
    Q_PROPERTY(bool gimbalHasNeutral                    READ gimbalHasNeutral                    WRITE setGimbalHasNeutral                    NOTIFY gimbalHasNeutralChanged)
    Q_PROPERTY(int  gimbalDeviceId                      READ gimbalDeviceId                      WRITE setGimbalDeviceId                      NOTIFY gimbalDeviceIdChanged)
    Q_PROPERTY(bool incrementVehicleId                   READ incrementVehicleId                  WRITE setIncrementVehicleId                  NOTIFY incrementVehicleIdChanged)
    Q_PROPERTY(bool cameraCaptureVideo                   READ cameraCaptureVideo                  WRITE setCameraCaptureVideo                  NOTIFY cameraCaptureVideoChanged)
    Q_PROPERTY(bool cameraCaptureImage                   READ cameraCaptureImage                  WRITE setCameraCaptureImage                  NOTIFY cameraCaptureImageChanged)
    Q_PROPERTY(bool cameraHasModes                       READ cameraHasModes                      WRITE setCameraHasModes                      NOTIFY cameraHasModesChanged)
    Q_PROPERTY(bool cameraHasVideoStream                 READ cameraHasVideoStream                WRITE setCameraHasVideoStream                NOTIFY cameraHasVideoStreamChanged)
    Q_PROPERTY(bool cameraCanCaptureImageInVideoMode     READ cameraCanCaptureImageInVideoMode    WRITE setCameraCanCaptureImageInVideoMode    NOTIFY cameraCanCaptureImageInVideoModeChanged)
    Q_PROPERTY(bool cameraCanCaptureVideoInImageMode     READ cameraCanCaptureVideoInImageMode    WRITE setCameraCanCaptureVideoInImageMode    NOTIFY cameraCanCaptureVideoInImageModeChanged)
    Q_PROPERTY(bool cameraHasBasicZoom                   READ cameraHasBasicZoom                  WRITE setCameraHasBasicZoom                  NOTIFY cameraHasBasicZoomChanged)
    Q_PROPERTY(bool cameraHasTrackingPoint               READ cameraHasTrackingPoint              WRITE setCameraHasTrackingPoint              NOTIFY cameraHasTrackingPointChanged)
    Q_PROPERTY(bool cameraHasTrackingRectangle           READ cameraHasTrackingRectangle          WRITE setCameraHasTrackingRectangle          NOTIFY cameraHasTrackingRectangleChanged)
    Q_PROPERTY(int  videoStreamType                      READ videoStreamType                     WRITE setVideoStreamType                     NOTIFY videoStreamTypeChanged)
    Q_PROPERTY(int homeLocation READ homeLocation WRITE setHomeLocation NOTIFY homeLocationChanged)
 
public:
    explicit MockConfiguration(const QString &name, QObject *parent = nullptr);
    explicit MockConfiguration(const MockConfiguration *copy, QObject *parent = nullptr);
    ~MockConfiguration();
 
    enum Option {
        OptionNone                = 0,
        OptionSendStatusText      = 1 << 0,
        OptionEnableCamera        = 1 << 1,
        OptionEnableGimbal        = 1 << 2,
        OptionEnableProximity     = 1 << 3,
        OptionPreloadMission      = 1 << 4,
        OptionStayMavlinkV1       = 1 << 5,
        OptionAPMStartFreshParams = 1 << 6,
        OptionFtpCapability       = 1 << 7,
        OptionNoRadioStatus       = 1 << 8,
    };
    Q_DECLARE_FLAGS(Options, Option)
    Q_FLAG(Options)
 
    
    enum VideoStreamType {
        VideoStreamNone = 0,    
        VideoStreamRtpUdpH264,  
        VideoStreamRtpUdpH265,  
        VideoStreamRtspH264,    
        VideoStreamMpegTsUdp,   
        VideoStreamMpegTsTcp,   
    };
    Q_ENUM(VideoStreamType)
 
    
    enum HomeLocation
    {
        HomeLocationPX4SITL = 0,    
        HomeLocationArduPilotSITL,  
        HomeLocationTerrainTest,    
    };
    Q_ENUM(HomeLocation)
 
    LinkType type() const final { return LinkConfiguration::TypeMock; }
    void copyFrom(const LinkConfiguration *source) final;
    void loadSettings(QSettings &settings, const QString &root) final;
    void saveSettings(QSettings &settings, const QString &root) const final;
    QString settingsURL() const final { return QStringLiteral("MockLinkSettings.qml"); }
    QString settingsTitle() const final { return tr("Mock Link Settings"); }
 
    int firmware() const { return static_cast<int>(_firmwareType); }
    void setFirmware(int type) { _firmwareType = static_cast<MAV_AUTOPILOT>(type); emit firmwareChanged(); }
    int vehicle() const { return static_cast<int>(_vehicleType); }
    void setVehicle(int type) { _vehicleType = static_cast<MAV_TYPE>(type); emit vehicleChanged(); }
    bool incrementVehicleId() const { return _incrementVehicleId; }
    void setIncrementVehicleId(bool incrementVehicleId) { _incrementVehicleId = incrementVehicleId; emit incrementVehicleIdChanged(); }
    MAV_AUTOPILOT firmwareType() const { return _firmwareType; }
    void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; emit firmwareChanged(); }
    uint16_t boardVendorId() const { return _boardVendorId; }
    uint16_t boardProductId() const { return _boardProductId; }
    void setBoardVendorProduct(uint16_t vendorId, uint16_t productId) { _boardVendorId = vendorId; _boardProductId = productId; }
    MAV_TYPE vehicleType() const { return _vehicleType; }
    void setVehicleType(MAV_TYPE vehicleType) { _vehicleType = vehicleType; emit vehicleChanged(); }
    bool sendStatusText() const { return _sendStatusText; }
    void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; emit sendStatusChanged(); }
    bool apmStartFreshParams() const { return _apmStartFreshParams; }
    void setApmStartFreshParams(bool apmStartFreshParams) { _apmStartFreshParams = apmStartFreshParams; emit apmStartFreshParamsChanged(); }
    bool enableCamera() const { return _enableCamera; }
    void setEnableCamera(bool enableCamera) { _enableCamera = enableCamera; emit enableCameraChanged(); }
    bool enableGimbal() const { return _enableGimbal; }
    void setEnableGimbal(bool enableGimbal) { _enableGimbal = enableGimbal; emit enableGimbalChanged(); }
    bool enableProximity() const { return _enableProximity; }
    void setEnableProximity(bool enableProximity) { _enableProximity = enableProximity; emit enableProximityChanged(); }
 
    bool enableADSB() const { return _enableADSB; }
 
    void setEnableADSB(bool enableADSB)
    {
        _enableADSB = enableADSB;
        emit enableADSBChanged();
    }
 
    bool gimbalHasRollAxis() const { return _gimbalHasRollAxis; }
    void setGimbalHasRollAxis(bool value) { _gimbalHasRollAxis = value; emit gimbalHasRollAxisChanged(); }
    bool gimbalHasPitchAxis() const { return _gimbalHasPitchAxis; }
    void setGimbalHasPitchAxis(bool value) { _gimbalHasPitchAxis = value; emit gimbalHasPitchAxisChanged(); }
    bool gimbalHasYawAxis() const { return _gimbalHasYawAxis; }
    void setGimbalHasYawAxis(bool value) { _gimbalHasYawAxis = value; emit gimbalHasYawAxisChanged(); }
    bool gimbalHasYawFollow() const { return _gimbalHasYawFollow; }
    void setGimbalHasYawFollow(bool value) { _gimbalHasYawFollow = value; emit gimbalHasYawFollowChanged(); }
    bool gimbalHasYawLock() const { return _gimbalHasYawLock; }
    void setGimbalHasYawLock(bool value) { _gimbalHasYawLock = value; emit gimbalHasYawLockChanged(); }
    bool gimbalHasRetract() const { return _gimbalHasRetract; }
    void setGimbalHasRetract(bool value) { _gimbalHasRetract = value; emit gimbalHasRetractChanged(); }
    bool gimbalHasNeutral() const { return _gimbalHasNeutral; }
    void setGimbalHasNeutral(bool value) { _gimbalHasNeutral = value; emit gimbalHasNeutralChanged(); }
    int gimbalDeviceId() const { return _gimbalDeviceId; }
    void setGimbalDeviceId(int value) { _gimbalDeviceId = value; emit gimbalDeviceIdChanged(); }
 
    bool cameraCaptureVideo() const { return _cameraCaptureVideo; }
    void setCameraCaptureVideo(bool value) { _cameraCaptureVideo = value; emit cameraCaptureVideoChanged(); }
    bool cameraCaptureImage() const { return _cameraCaptureImage; }
    void setCameraCaptureImage(bool value) { _cameraCaptureImage = value; emit cameraCaptureImageChanged(); }
    bool cameraHasModes() const { return _cameraHasModes; }
    void setCameraHasModes(bool value) { _cameraHasModes = value; emit cameraHasModesChanged(); }
    bool cameraHasVideoStream() const { return _cameraHasVideoStream; }
    void setCameraHasVideoStream(bool value) { _cameraHasVideoStream = value; emit cameraHasVideoStreamChanged(); }
    bool cameraCanCaptureImageInVideoMode() const { return _cameraCanCaptureImageInVideoMode; }
    void setCameraCanCaptureImageInVideoMode(bool value) { _cameraCanCaptureImageInVideoMode = value; emit cameraCanCaptureImageInVideoModeChanged(); }
    bool cameraCanCaptureVideoInImageMode() const { return _cameraCanCaptureVideoInImageMode; }
    void setCameraCanCaptureVideoInImageMode(bool value) { _cameraCanCaptureVideoInImageMode = value; emit cameraCanCaptureVideoInImageModeChanged(); }
    bool cameraHasBasicZoom() const { return _cameraHasBasicZoom; }
    void setCameraHasBasicZoom(bool value) { _cameraHasBasicZoom = value; emit cameraHasBasicZoomChanged(); }
    bool cameraHasTrackingPoint() const { return _cameraHasTrackingPoint; }
    void setCameraHasTrackingPoint(bool value) { _cameraHasTrackingPoint = value; emit cameraHasTrackingPointChanged(); }
    bool cameraHasTrackingRectangle() const { return _cameraHasTrackingRectangle; }
    void setCameraHasTrackingRectangle(bool value) { _cameraHasTrackingRectangle = value; emit cameraHasTrackingRectangleChanged(); }
 
    int videoStreamType() const { return static_cast<int>(_videoStreamType); }
    void setVideoStreamType(int value) { _videoStreamType = videoStreamTypeFromInt(value); emit videoStreamTypeChanged(); }
    VideoStreamType videoStreamTypeEnum() const { return _videoStreamType; }
 
    static VideoStreamType videoStreamTypeFromInt(int value)
    {
        return ((value >= VideoStreamNone) && (value <= VideoStreamMpegTsTcp)) ? static_cast<VideoStreamType>(value) : VideoStreamNone;
    }
 
    int homeLocation() const { return static_cast<int>(_homeLocation); }
 
    void setHomeLocation(int value)
    {
        _homeLocation = homeLocationFromInt(value);
        emit homeLocationChanged();
    }
 
    HomeLocation homeLocationEnum() const { return _homeLocation; }
 
    static HomeLocation homeLocationFromInt(int value)
    {
        return ((value >= HomeLocationPX4SITL) && (value <= HomeLocationTerrainTest)) ? static_cast<HomeLocation>(value)
                                                                                      : HomeLocationPX4SITL;
    }
 
    static QGeoCoordinate homeCoordinate(HomeLocation location);
 
    enum FailureMode_t {
        FailNone,                                                   
        FailParamNoResponseToRequestList,                           
        FailMissingParamOnInitialRequest,                           
        FailMissingParamOnAllRequests,                              
        FailMissingParamOnAllRequestsNonDefaultComponent,           
        FailMissingParamSharedIndexAcrossComponents,                
        FailNonDefaultComponentDead,                                
        FailNonDefaultComponentLossy,                               
        FailInitialConnectRequestMessageAutopilotVersionFailure,    
        FailInitialConnectRequestMessageAutopilotVersionLost,       
    };
    FailureMode_t failureMode() const { return _failureMode; }
    void setFailureMode(FailureMode_t failureMode) { _failureMode = failureMode; }
 
    // Test-only: not persisted via loadSettings/saveSettings
    bool startArmed() const { return _startArmed; }
    void setStartArmed(bool armed) { _startArmed = armed; }
 
    // Test-only: when true, the simulated vehicle starts with a simple
    // multirotor mission (takeoff, waypoint, RTL) already loaded. Not persisted.
    bool preloadMission() const { return _preloadMission; }
    void setPreloadMission(bool preloadMission) { _preloadMission = preloadMission; }
 
    // Test-only: when true, outgoing traffic never upgrades from MAVLink v1 to v2,
    // simulating a vehicle which only supports MAVLink v1. Not persisted.
    bool stayMavlinkV1() const { return _stayMavlinkV1; }
    void setStayMavlinkV1(bool stayV1) { _stayMavlinkV1 = stayV1; }
 
    // Test-only: when true, the vehicle advertises MAV_PROTOCOL_CAPABILITY_FTP
    // in AUTOPILOT_VERSION. Not persisted.
    bool ftpCapability() const { return _ftpCapability; }
    void setFtpCapability(bool ftpCapability) { _ftpCapability = ftpCapability; }
 
    // Test-only: when false, RADIO_STATUS is not streamed, so the link is not detected as a radio link. Not persisted.
    bool sendRadioStatus() const { return _sendRadioStatus; }
    void setSendRadioStatus(bool sendRadioStatus) { _sendRadioStatus = sendRadioStatus; }
 
signals:
    void firmwareChanged();
    void vehicleChanged();
    void sendStatusChanged();
    void apmStartFreshParamsChanged();
    void enableCameraChanged();
    void enableGimbalChanged();
    void enableProximityChanged();
    void enableADSBChanged();
    void gimbalHasRollAxisChanged();
    void gimbalHasPitchAxisChanged();
    void gimbalHasYawAxisChanged();
    void gimbalHasYawFollowChanged();
    void gimbalHasYawLockChanged();
    void gimbalHasRetractChanged();
    void gimbalHasNeutralChanged();
    void gimbalDeviceIdChanged();
    void incrementVehicleIdChanged();
    void cameraCaptureVideoChanged();
    void cameraCaptureImageChanged();
    void cameraHasModesChanged();
    void cameraHasVideoStreamChanged();
    void cameraCanCaptureImageInVideoModeChanged();
    void cameraCanCaptureVideoInImageModeChanged();
    void cameraHasBasicZoomChanged();
    void cameraHasTrackingPointChanged();
    void cameraHasTrackingRectangleChanged();
    void videoStreamTypeChanged();
    void homeLocationChanged();
 
private:
    MAV_AUTOPILOT _firmwareType = MAV_AUTOPILOT_PX4;
    MAV_TYPE _vehicleType = MAV_TYPE_QUADROTOR;
    bool _sendStatusText = false;
    bool _apmStartFreshParams = false;
    bool _enableCamera = false;
    bool _enableGimbal = false;
    bool _enableProximity = false;
    bool _enableADSB = false;
    FailureMode_t _failureMode = FailNone;
    bool _incrementVehicleId = true;
    uint16_t _boardVendorId = 0;
    uint16_t _boardProductId = 0;
    bool _startArmed = false;
    bool _preloadMission = false;
    bool _stayMavlinkV1 = false;
    bool _ftpCapability = false;
    bool _sendRadioStatus = true;
 
    // Camera capability flags (defaults match current Camera 1 configuration)
    bool _cameraCaptureVideo = true;
    bool _cameraCaptureImage = true;
    bool _cameraHasModes = true;
    bool _cameraHasVideoStream = true;
    bool _cameraCanCaptureImageInVideoMode = true;
    bool _cameraCanCaptureVideoInImageMode = false;
    bool _cameraHasBasicZoom = true;
    bool _cameraHasTrackingPoint = true;
    bool _cameraHasTrackingRectangle = true;
    VideoStreamType _videoStreamType = VideoStreamNone;
    HomeLocation _homeLocation = HomeLocationPX4SITL;
 
    // Gimbal capability flags (defaults - all enabled)
    bool _gimbalHasRollAxis = true;
    bool _gimbalHasPitchAxis = true;
    bool _gimbalHasYawAxis = true;
    bool _gimbalHasYawFollow = true;
    bool _gimbalHasYawLock = true;
    bool _gimbalHasRetract = true;
    bool _gimbalHasNeutral = true;
    int _gimbalDeviceId = MAV_COMP_ID_GIMBAL;
 
    static constexpr const char *_firmwareTypeKey = "FirmwareType";
    static constexpr const char *_vehicleTypeKey = "VehicleType";
    static constexpr const char *_sendStatusTextKey = "SendStatusText";
    static constexpr const char *_apmStartFreshParamsKey = "APMStartFreshParams";
    static constexpr const char *_enableCameraKey = "EnableCamera";
    static constexpr const char *_enableGimbalKey = "EnableGimbal";
    static constexpr const char *_enableProximityKey = "EnableProximity";
    static constexpr const char* _enableADSBKey = "EnableADSB";
    static constexpr const char *_gimbalHasRollAxisKey = "GimbalHasRollAxis";
    static constexpr const char *_gimbalHasPitchAxisKey = "GimbalHasPitchAxis";
    static constexpr const char *_gimbalHasYawAxisKey = "GimbalHasYawAxis";
    static constexpr const char *_gimbalHasYawFollowKey = "GimbalHasYawFollow";
    static constexpr const char *_gimbalHasYawLockKey = "GimbalHasYawLock";
    static constexpr const char *_gimbalHasRetractKey = "GimbalHasRetract";
    static constexpr const char *_gimbalHasNeutralKey = "GimbalHasNeutral";
    static constexpr const char *_gimbalDeviceIdKey = "GimbalDeviceId";
    static constexpr const char *_incrementVehicleIdKey = "IncrementVehicleId";
    static constexpr const char *_failureModeKey = "FailureMode";
    static constexpr const char *_cameraCaptureVideoKey = "CameraCaptureVideo";
    static constexpr const char *_cameraCaptureImageKey = "CameraCaptureImage";
    static constexpr const char *_cameraHasModesKey = "CameraHasModes";
    static constexpr const char *_cameraHasVideoStreamKey = "CameraHasVideoStream";
    static constexpr const char *_cameraCanCaptureImageInVideoModeKey = "CameraCanCaptureImageInVideoMode";
    static constexpr const char *_cameraCanCaptureVideoInImageModeKey = "CameraCanCaptureVideoInImageMode";
    static constexpr const char *_cameraHasBasicZoomKey = "CameraHasBasicZoom";
    static constexpr const char *_cameraHasTrackingPointKey = "CameraHasTrackingPoint";
    static constexpr const char *_cameraHasTrackingRectangleKey = "CameraHasTrackingRectangle";
    static constexpr const char *_videoStreamTypeKey = "VideoStreamType";
    static constexpr const char* _homeLocationKey = "HomeLocation";
};
 
Q_DECLARE_OPERATORS_FOR_FLAGS(MockConfiguration::Options)